A parallel approach of the inverse kinematics solutions for robots using a transputer network

This article presents a parallel method for computing inverse kinematics solutions for robots with closed-form solutions moving along a straight line trajectory specified in Cartesian space. Zhang and Paul's approach¹ is improved for accuracy and speed. Instead of using previous joint positions as proposed by Zhang and Paul, a first order prediction strategy is used to decouple the dependency between joint positions, and a zero order approximation solution is computed. A compensation scheme using Taylor series expansion is applied to obtain the trajectory gradient in joint space to replace the correction scheme proposed by Zhang and Paul. The configuration of a Mitsubishi RV-M1 robot is used for the simulation of a closed-form inverse kinematics solutions. An Alta SuperLink/XL with four transputer nodes is used for parallel implementation. The simulation results show a significant improvement in displacement tracking errors and joint configuration errors along the straight line trajectory. The computational latency is reduced as well. The modified approach proposed in this work is more accurate and faster than Zhang and Paul's approach for robots with closed-form inverse kinematics solutions. © 1996 John Wiley & Sons, Inc.     

Some Grain Properties of IR36-based Starch Mutants

Some grain properties of 20 starch mutants that were transferred from mutants of Japanese rices to IR36 (by two backcrosses to IR36) were studied. All had higher apparent amylose content (AC) and gelatinization temperature (GT) than the parent mutants, except the dull mutants, and the 82GF sugary mutant which had no amylose. All had lighter and lower density brown rices than IR36. Sugary 82GF und EM5 had high free sugars, and sugary and EM20 shrunken-1 had high fat content. Phytoglycogen content of brown rice was 34% for 82GF and 7% for EM5 sugary mutants. Amylose extender mutants had higher lysine in brown rice protein than IR36 parent. Alkali spreading value did not accurately estimate GT of these starch mutants. Milled rice of the two high amylose extender mutants 2064 and EM16 had lower Amylograph peak viscosity but higher cooked rice Instron hardness than IR36 milled rice.     

Modulatory Effects of Biosynthesized Gold Nanoparticles Conjugated with Curcumin and Paclitaxel on Tumorigenesis and Metastatic Pathways—In Vitro and In Vivo Studies

Background: Breast cancer is the most common cancer in women globally, and diagnosing it early and finding potential drug candidates against multi-drug resistant metastatic breast cancers provide the possibilities of better treatment and extending life. Methods: The current study aimed to evaluate the synergistic anti-metastatic activity of Curcumin (Cur) and Paclitaxel (Pacli) individually, the combination of Curcumin–Paclitaxel (CP), and also in conjugation with gold nanoparticles (AuNP–Curcumin (Au-C), AuNP–Paclitaxel (Au-P), and AuNP–Curcumin–Paclitaxel (Au-CP)) in various in vitro and in vivo models. Results: The results from combination treatments of CP and Au-CP demonstrated excellent synergistic cytotoxic effects in triple-negative breast cancer cell lines (MDA MB 231 and 4T1) in in vitro and in vivo mouse models. Detailed mechanistic studies were performed that reveal that the anti-cancer effects were associated with the downregulation of the expression of VEGF, CYCLIN-D1, and STAT-3 genes and upregulation of the apoptotic Caspase-9 gene. The group of mice that received CP combination therapy (with and without gold nanoparticles) showed a significant reduction in the size of tumor when compared to the Pacli alone treatment and control groups. Conclusions: Together, the results suggest that the delivery of gold conjugated Au-CP formulations may help in modulating the outcomes of chemotherapy. The present study is well supported with observations from cell-based assays, molecular and histopathological analyses.     

Periodic Exposure of Plasma-Activated Medium Alters Fibroblast Cellular Homoeostasis

Excess amounts of redox stress and failure to regulate homeostatic levels of reactive species are associated with several skin pathophysiologic conditions. Nonmalignant cells are assumed to cope better with higher reactive oxygen and nitrogen species (RONS) levels. However, the effect of periodic stress on this balance has not been investigated in fibroblasts in the field of plasma medicine. In this study, we aimed to investigate intrinsic changes with respect to cellular proliferation, cell cycle, and ability to neutralize the redox stress inside fibroblast cells following periodic redox stress in vitro. Soft jet plasma with air as feeding gas was used to generate plasma-activated medium (PAM) for inducing redox stress conditions. We assessed cellular viability, energetics, and cell cycle machinery under oxidative stress conditions at weeks 3, 6, 9, and 12. Fibroblasts retained their usual physiological properties until 6 weeks. Fibroblasts failed to overcome the redox stress induced by periodic PAM exposure after 6 weeks, indicating its threshold potential. Periodic stress above the threshold level led to alterations in fibroblast cellular processes. These include consistent increases in apoptosis, while RONS accumulation and cell cycle arrest were observed at the final stages. Currently, the use of NTP in clinical settings is limited due to a lack of knowledge about fibroblasts’ behavior in wound healing, scar formation, and other fibrotic disorders. Understanding fibroblasts’ physiology could help to utilize nonthermal plasma in redox-related skin diseases. Furthermore, these results provide new information about the threshold capacity of fibroblasts and an insight into the adaptation mechanism against periodic oxidative stress conditions in fibroblasts.     

First and second law analyses of a typical solar air dryer system: a case study

This communication presents an experimental study based on energy and exergy analyses of a typical solar air dryer. On the basis of the experimental results, the first and the second law efficiencies are calculated with respect to the available solar radiation. It is found that the second law efficiency is much less than the first law efficiency irrespective of the mass flow rate of the circulating fluid. It is also found that both efficiencies are an increasing function with respect to the mass flow rate of the working fluid. For a particular day, it is also found that first and second law efficiencies fluctuate according to radiation. The results obtained in this article are found to be consistent with those obtained by earlier authors as given in the literature.     

Thermodynamic analysis and parametric study of an intercooled–reheat closed-cycle gas turbine on the basis of a new isentropic exponent

The thermodynamic analysis and parametric study of an intercooled–reheat closed-cycle gas turbine is presented in this paper, on the basis of a new (harmonic mean) isentropic exponent. An analytical expression is derived for the optimum pressure ratio and maximum non-dimensional net work output. It is found that the optimum pressure ratio and the maximum non-dimensional net work are high when the ratio of extreme temperatures of cycle (i.e. T _max and T _min) and isentropic efficiencies of compressor and turbine (i.e. η_c and η_t) are high. The theoretical results are also compared with the practical conditions of power plant.     

Passive solar heating of a non-airconditioned building with movable insulation over the roof pond

This paper presents a simple mathematical model for solar space heating in a non-airconditioned building with movable insulation over the roof pond. The building room considered is of rectangular shape (6 m × 5 m × 4 m) based on the ground. The effects of heat conduction to the ground, heat transfers to furnishings and heat losses due to air ventilation/infiltration have been taken into account in the general heat transfer analysis. The day-to-night change of insulation over the roof pond has been represented by a rectangular step function variation of the heat transfer coefficient at the pond's surface. An increase of 3 to 4°C in the room air temperature is achieved by means of movable insulation over the roof pond on a mild winter's day (17th February, 1982) in New Delhi.     

Adaptive,robust and blind digital watermarking using Bhattacharyya distance and bit manipulation

Multimedia Tools and Applications - Ownership identification and copyright protection are two major concerns for digital data. Digital watermarking provides the best solution for these issues. In...     

A Polyallylamine Anchored Amine‐Rich Laser‐Ablated Graphene Platform for Facile and Highly Selective Electrochemical IgG Biomarker Detection

Current immunosensors have an insufficient number of binding sites for the recognition of biomolecules, which leads to false positive or negative results. In this research, a facile, cost‐effective, disposable, and highly selective electrochemical immunosensing platform is developed based on cationic polyelectrolyte polyallylamine (PAAMI) anchored laser‐ablated graphene (LAG). Here, for the first time, PAAMI is introduced to stabilize LAG flakes, while retaining the intrinsic thermal and electronic properties of the substrate by noncovalent π–π interaction and electrostatic physical absorption. The sensing platform offers a suitable number of anchoring sites for the immobilized antibodies by providing ? NH₂ functional groups. The proper grafting of PAAMI is confirmed through X‐ray photoelectron spectroscopy and Raman spectroscopy. The immunosensing platform is applied to detect immunoglobulin (IgG) biomarkers as a proof of concept. Under optimized conditions, the sensing platform exhibits a linear range of 0.012–15 and 15–352 ng mL^?1 with a limit of detection of 6 pg mL^?1 for IgG detection with high selectivity. Based on the analysis, the developed immunosensing platform can be used for point‐of‐care detection of IgG in clinical diagnostic centers. Furthermore, the developed strategy is well suited for the detection of other cancer biomarkers after immobilizing the relevant antibodies.     

IoT Based Multimode Sensing Platform for Underground Coal Mines

Wireless Personal Communications - Real-time information of the underground environment plays a vital role for underground coal mines. For this purpose, a number of systems have been developed by...